Package com.ctre.phoenix.sensors
Class CANCoder
java.lang.Object
com.ctre.phoenix.sensors.CANCoder
- Direct Known Subclasses:
WPI_CANCoder
@Deprecated(since="2024", forRemoval=true) public class CANCoder extends Object
Deprecated, for removal: This API element is subject to removal in a future version.
This device's Phoenix 5 API is deprecated for removal in the
2025 season. Users should update to Phoenix 6 firmware and migrate to the
Phoenix 6 API. A migration guide is available at
https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html.
If the Phoenix 5 API must be used for this device, the device must have 22.X firmware. This firmware is available in Tuner X after selecting Phoenix 5 in the firmware year dropdown.
CTRE CANCoder.
// Example usage of a CANCoder
CANCoder cancoder = new CANCoder(0); // creates a new CANCoder with ID 0
CANCoderConfiguration config = new CANCoderConfiguration();
// set units of the CANCoder to radians, with velocity being radians per second
config.sensorCoefficient = 2 * Math.PI / 4096.0;
config.unitString = "rad";
config.sensorTimeBase = SensorTimeBase.PerSecond;
cancoder.configAllSettings(config);
System.out.println(cancoder.getPosition()); // prints the position of the CANCoder
System.out.println(cancoder.getVelocity()); // prints the velocity recorded by the CANCoder
ErrorCode error = cancoder.getLastError(); // gets the last error generated by the CANCoder
CANCoderFaults faults = new CANCoderFaults();
ErrorCode faultsError = cancoder.getFaults(faults); // fills faults with the current CANCoder faults; returns the last error generated
cancoder.setStatusFramePeriod(CANCoderStatusFrame.SensorData, 10); // changes the period of the sensor data frame to 10ms
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Constructor Summary
Constructors Constructor Description CANCoder(int deviceNumber)
Deprecated, for removal: This API element is subject to removal in a future version.Constructor.CANCoder(int deviceNumber, String canbus)
Deprecated, for removal: This API element is subject to removal in a future version.Constructor. -
Method Summary
Modifier and Type Method Description ErrorCode
clearStickyFaults()
Deprecated, for removal: This API element is subject to removal in a future version.Clears the Sticky FaultsErrorCode
clearStickyFaults(int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Clears the Sticky FaultsErrorCode
configAbsoluteSensorRange(AbsoluteSensorRange absoluteSensorRange)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the signage and range of the "Absolute Position" signal.ErrorCode
configAbsoluteSensorRange(AbsoluteSensorRange absoluteSensorRange, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the signage and range of the "Absolute Position" signal.ErrorCode
configAllSettings(CANCoderConfiguration allConfigs)
Deprecated, for removal: This API element is subject to removal in a future version.Configures all persistent settings (overloaded so timeoutMs is 50 ms).ErrorCode
configAllSettings(CANCoderConfiguration allConfigs, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Configures all persistent settings.ErrorCode
configFactoryDefault()
Deprecated, for removal: This API element is subject to removal in a future version.Configures all persistent settings to defaults.ErrorCode
configFactoryDefault(int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Configures all persistent settings to defaults.ErrorCode
configFeedbackCoefficient(double sensorCoefficient, String unitString, SensorTimeBase sensorTimeBase)
Deprecated, for removal: This API element is subject to removal in a future version.Choose what units you want the API to get/set.ErrorCode
configFeedbackCoefficient(double sensorCoefficient, String unitString, SensorTimeBase sensorTimeBase, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Choose what units you want the API to get/set.AbsoluteSensorRange
configGetAbsoluteSensorRange()
Deprecated, for removal: This API element is subject to removal in a future version.AbsoluteSensorRange
configGetAbsoluteSensorRange(int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.int
configGetCustomParam(int paramIndex)
Deprecated, for removal: This API element is subject to removal in a future version.Gets the value of a custom parameter.int
configGetCustomParam(int paramIndex, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Gets the value of a custom parameter.double
configGetFeedbackCoefficient()
Deprecated, for removal: This API element is subject to removal in a future version.double
configGetFeedbackCoefficient(int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.SensorTimeBase
configGetFeedbackTimeBase()
Deprecated, for removal: This API element is subject to removal in a future version.SensorTimeBase
configGetFeedbackTimeBase(int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.String
configGetFeedbackUnitString()
Deprecated, for removal: This API element is subject to removal in a future version.String
configGetFeedbackUnitString(int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.double
configGetMagnetOffset()
Deprecated, for removal: This API element is subject to removal in a future version.double
configGetMagnetOffset(int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.double
configGetParameter(ParamEnum param, int ordinal)
Deprecated, for removal: This API element is subject to removal in a future version.Gets a parameter.double
configGetParameter(ParamEnum param, int ordinal, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Gets a parameter.boolean
configGetSensorDirection()
Deprecated, for removal: This API element is subject to removal in a future version.boolean
configGetSensorDirection(int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.SensorInitializationStrategy
configGetSensorInitializationStrategy()
Deprecated, for removal: This API element is subject to removal in a future version.SensorInitializationStrategy
configGetSensorInitializationStrategy(int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.SensorVelocityMeasPeriod
configGetVelocityMeasurementPeriod()
Deprecated, for removal: This API element is subject to removal in a future version.SensorVelocityMeasPeriod
configGetVelocityMeasurementPeriod(int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.int
configGetVelocityMeasurementWindow()
Deprecated, for removal: This API element is subject to removal in a future version.int
configGetVelocityMeasurementWindow(int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.ErrorCode
configMagnetOffset(double offsetDegrees)
Deprecated, for removal: This API element is subject to removal in a future version.Adjusts the zero point for the absolute position register.ErrorCode
configMagnetOffset(double offsetDegrees, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Adjusts the zero point for the absolute position register.ErrorCode
configSensorDirection(boolean bSensorDirection)
Deprecated, for removal: This API element is subject to removal in a future version.Choose which direction is interpreted as positive displacement.ErrorCode
configSensorDirection(boolean bSensorDirection, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Choose which direction is interpreted as positive displacement.ErrorCode
configSensorInitializationStrategy(SensorInitializationStrategy initializationStrategy)
Deprecated, for removal: This API element is subject to removal in a future version.Pick the strategy on how to initialize the CANCoder's "Position" register.ErrorCode
configSensorInitializationStrategy(SensorInitializationStrategy initializationStrategy, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Pick the strategy on how to initialize the CANCoder's "Position" register.ErrorCode
configSetCustomParam(int newValue, int paramIndex)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the value of a custom parameter.ErrorCode
configSetCustomParam(int newValue, int paramIndex, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the value of a custom parameter.ErrorCode
configSetParameter(ParamEnum param, double value, int subValue, int ordinal)
Deprecated, for removal: This API element is subject to removal in a future version.Sets a parameter.ErrorCode
configSetParameter(ParamEnum param, double value, int subValue, int ordinal, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Sets a parameter.ErrorCode
configVelocityMeasurementPeriod(SensorVelocityMeasPeriod period)
Deprecated, for removal: This API element is subject to removal in a future version.Configures the period of each velocity sample.ErrorCode
configVelocityMeasurementPeriod(SensorVelocityMeasPeriod period, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Configures the period of each velocity sample.ErrorCode
configVelocityMeasurementWindow(int windowSize)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the number of velocity samples used in the rolling average velocity measurement.ErrorCode
configVelocityMeasurementWindow(int windowSize, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the number of velocity samples used in the rolling average velocity measurement.ErrorCode
DestroyObject()
Deprecated, for removal: This API element is subject to removal in a future version.double
getAbsolutePosition()
Deprecated, for removal: This API element is subject to removal in a future version.Gets the absolute position of the sensor.void
getAllConfigs(CANCoderConfiguration allConfigs)
Deprecated, for removal: This API element is subject to removal in a future version.Gets all persistant settings (overloaded so timeoutMs is 50 ms).void
getAllConfigs(CANCoderConfiguration allConfigs, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Gets all persistant settings.double
getBusVoltage()
Deprecated, for removal: This API element is subject to removal in a future version.Gets the bus voltage seen by the device.int
getDeviceID()
Deprecated, for removal: This API element is subject to removal in a future version.ErrorCode
getFaults(CANCoderFaults toFill)
Deprecated, for removal: This API element is subject to removal in a future version.Gets the CANCoder fault statusint
getFirmwareVersion()
Deprecated, for removal: This API element is subject to removal in a future version.Gets the firmware version of the device.ErrorCode
getLastError()
Deprecated, for removal: This API element is subject to removal in a future version.Call GetLastError() generated by this object.double
getLastTimestamp()
Deprecated, for removal: This API element is subject to removal in a future version.Get the timestamp of the CAN frame retrieved in the last called get routine.String
getLastUnitString()
Deprecated, for removal: This API element is subject to removal in a future version.Get the units for the signal retrieved in the last called get routine.MagnetFieldStrength
getMagnetFieldStrength()
Deprecated, for removal: This API element is subject to removal in a future version.Gets the magnet's health.double
getPosition()
Deprecated, for removal: This API element is subject to removal in a future version.Gets the position of the sensor.CANCoderSimCollection
getSimCollection()
Deprecated, for removal: This API element is subject to removal in a future version.int
getStatusFramePeriod(CANCoderStatusFrame frame)
Deprecated, for removal: This API element is subject to removal in a future version.Gets the period of the given status frame.int
getStatusFramePeriod(CANCoderStatusFrame frame, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Gets the period of the given status frame.ErrorCode
getStickyFaults(CANCoderStickyFaults toFill)
Deprecated, for removal: This API element is subject to removal in a future version.Gets the CANCoder sticky fault statusdouble
getVelocity()
Deprecated, for removal: This API element is subject to removal in a future version.Gets the velocity of the sensor.boolean
hasResetOccurred()
Deprecated, for removal: This API element is subject to removal in a future version.Returns true if the device has reset since last call.ErrorCode
setPosition(double newPosition)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the position of the sensor.ErrorCode
setPosition(double newPosition, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the position of the sensor.ErrorCode
setPositionToAbsolute()
Deprecated, for removal: This API element is subject to removal in a future version.Sets the position of the sensor to match the magnet's "Absolute Sensor".ErrorCode
setPositionToAbsolute(int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the position of the sensor to match the magnet's "Absolute Sensor".ErrorCode
setStatusFramePeriod(CANCoderStatusFrame statusFrame, int periodMs)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the period of the given status frame.ErrorCode
setStatusFramePeriod(CANCoderStatusFrame statusFrame, int periodMs, int timeoutMs)
Deprecated, for removal: This API element is subject to removal in a future version.Sets the period of the given status frame.
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Constructor Details
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CANCoder
Deprecated, for removal: This API element is subject to removal in a future version.Constructor.- Parameters:
deviceNumber
- The CAN Device ID of the CANCoder.canbus
- Name of the CANbus; can be a SocketCAN interface (on Linux), or a CANivore device name or serial number
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CANCoder
Deprecated, for removal: This API element is subject to removal in a future version.Constructor.- Parameters:
deviceNumber
- The CAN Device ID of the CANCoder.
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Method Details
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DestroyObject
Deprecated, for removal: This API element is subject to removal in a future version. -
getDeviceID
Deprecated, for removal: This API element is subject to removal in a future version. -
getSimCollection
Deprecated, for removal: This API element is subject to removal in a future version.- Returns:
- object that can set simulation inputs.
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getPosition
Deprecated, for removal: This API element is subject to removal in a future version.Gets the position of the sensor. This may be relative or absolute depending on configuration. The units are determined by the coefficient and unit-string configuration params, default is degrees.- Returns:
- The position of the sensor.
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setPosition
Deprecated, for removal: This API element is subject to removal in a future version.Sets the position of the sensor. The units are determined by the coefficient and unit-string configuration params, default is degrees.- Parameters:
newPosition
-- Returns:
- ErrorCode generated by function. 0 indicates no error.
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setPosition
Deprecated, for removal: This API element is subject to removal in a future version.Sets the position of the sensor. The units are determined by the coefficient and unit-string configuration params, default is degrees.- Parameters:
newPosition
-- Returns:
- ErrorCode generated by function. 0 indicates no error.
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setPositionToAbsolute
Deprecated, for removal: This API element is subject to removal in a future version.Sets the position of the sensor to match the magnet's "Absolute Sensor". The units are determined by the coefficient and unit-string configuration params, default is degrees.- Returns:
- ErrorCode generated by function. 0 indicates no error.
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setPositionToAbsolute
Deprecated, for removal: This API element is subject to removal in a future version.Sets the position of the sensor to match the magnet's "Absolute Sensor". The units are determined by the coefficient and unit-string configuration params, default is degrees.- Returns:
- ErrorCode generated by function. 0 indicates no error.
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getVelocity
Deprecated, for removal: This API element is subject to removal in a future version.Gets the velocity of the sensor. The units are determined by the coefficient and unit-string configuration params, default is degrees per second.- Returns:
- The Velocity of the sensor.
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getAbsolutePosition
Deprecated, for removal: This API element is subject to removal in a future version.Gets the absolute position of the sensor. The absolute position may be unsigned (for example: [0,360) deg), or signed (for example: [-180,+180) deg). This is determined by a configuration. The default selection is unsigned. The units are determined by the coefficient and unit-string configuration params, default is degrees. Note: this signal is not affected by calls to SetPosition().- Returns:
- The position of the sensor.
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configVelocityMeasurementPeriod
Deprecated, for removal: This API element is subject to removal in a future version.Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.- Parameters:
period
- Desired period for the velocity measurement.timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Error Code generated by function. 0 indicates no error.
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configVelocityMeasurementPeriod
Deprecated, for removal: This API element is subject to removal in a future version.Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.- Parameters:
period
- Desired period for the velocity measurement.- Returns:
- Error Code generated by function. 0 indicates no error.
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configVelocityMeasurementWindow
Deprecated, for removal: This API element is subject to removal in a future version.Sets the number of velocity samples used in the rolling average velocity measurement.- Parameters:
windowSize
- Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Error Code generated by function. 0 indicates no error.
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configVelocityMeasurementWindow
Deprecated, for removal: This API element is subject to removal in a future version.Sets the number of velocity samples used in the rolling average velocity measurement.- Parameters:
windowSize
- Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.- Returns:
- Error Code generated by function. 0 indicates no error.
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configAbsoluteSensorRange
Deprecated, for removal: This API element is subject to removal in a future version.Sets the signage and range of the "Absolute Position" signal. Choose unsigned for an absolute range of [0,+1) rotations, [0,360) deg, etc... Choose signed for an absolute range of [-0.5,+0.5) rotations, [-180,+180) deg, etc...- Parameters:
absoluteSensorRange
- Desired Sign/Range for the absolute position register.timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Error Code generated by function. 0 indicates no error.
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configAbsoluteSensorRange
Deprecated, for removal: This API element is subject to removal in a future version.Sets the signage and range of the "Absolute Position" signal. Choose unsigned for an absolute range of [0,+1) rotations, [0,360) deg, etc... Choose signed for an absolute range of [-0.5,+0.5) rotations, [-180,+180) deg, etc...- Parameters:
absoluteSensorRange
- Desired Sign/Range for the absolute position register.- Returns:
- Error Code generated by function. 0 indicates no error.
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configMagnetOffset
Deprecated, for removal: This API element is subject to removal in a future version.Adjusts the zero point for the absolute position register. The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180) and a hard-limited mechanism may have such a discontinuity in its functional range. In which case use this config to move the discontinuity outside of the function range.- Parameters:
offsetDegrees
- Offset in degrees (unit string and coefficient DO NOT apply for this config).timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Error Code generated by function. 0 indicates no error.
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configMagnetOffset
Deprecated, for removal: This API element is subject to removal in a future version.Adjusts the zero point for the absolute position register. The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180) and a hard-limited mechanism may have such a discontinuity in its functional range. In which case use this config to move the discontinuity outside of the function range.- Parameters:
offsetDegrees
- Offset in degrees (unit string and coefficient DO NOT apply for this config).- Returns:
- Error Code generated by function. 0 indicates no error.
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configSensorInitializationStrategy
public ErrorCode configSensorInitializationStrategy(SensorInitializationStrategy initializationStrategy, int timeoutMs)Deprecated, for removal: This API element is subject to removal in a future version.Pick the strategy on how to initialize the CANCoder's "Position" register. Depending on the mechanism, it may be desirable to auto set the Position register to match the Absolute Position (swerve for example). Or it may be desired to zero the sensor on boot (drivetrain translation sensor or a relative servo). TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the CANCoder is reset.- Parameters:
initializationStrategy
- The sensor initialization strategy to use. This will impact the behavior the next time CANCoder boots up.timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Error Code generated by function. 0 indicates no error.
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configSensorInitializationStrategy
public ErrorCode configSensorInitializationStrategy(SensorInitializationStrategy initializationStrategy)Deprecated, for removal: This API element is subject to removal in a future version.Pick the strategy on how to initialize the CANCoder's "Position" register. Depending on the mechanism, it may be desirable to auto set the Position register to match the Absolute Position (swerve for example). Or it may be desired to zero the sensor on boot (drivetrain translation sensor or a relative servo). TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the CANCoder is reset.- Parameters:
initializationStrategy
- The sensor initialization strategy to use. This will impact the behavior the next time CANCoder boots up.- Returns:
- Error Code generated by function. 0 indicates no error.
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configFeedbackCoefficient
public ErrorCode configFeedbackCoefficient(double sensorCoefficient, String unitString, SensorTimeBase sensorTimeBase, int timeoutMs)Deprecated, for removal: This API element is subject to removal in a future version.Choose what units you want the API to get/set. This also impacts the units displayed in Self-Test in Tuner. Depending on your mechanism, you may want to scale rotational units (deg, radians, rotations), or scale to a distance (inches, centimeters).- Parameters:
sensorCoefficient
- Scalar to multiply the CANCoder's native 12-bit resolute sensor. Defaults to 0.087890625 to produce degrees.unitString
- String holding the unit to report in. This impacts all routines (except for ConfigMagnetOffset) and the self-test in Tuner. The string value itself is arbitrary. The max number of letters will depend on firmware versioning, but generally CANCoder supports up to eight letters. However, common units such as "centimeters" are supported explicitly despite exceeding the eight-letter limit. Default is "deg"sensorTimeBase
- Desired denominator to report velocity in. This impacts GetVelocity and the reported velocity in self-test in Tuner. Default is "Per Second".timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Error Code generated by function. 0 indicates no error.
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configFeedbackCoefficient
public ErrorCode configFeedbackCoefficient(double sensorCoefficient, String unitString, SensorTimeBase sensorTimeBase)Deprecated, for removal: This API element is subject to removal in a future version.Choose what units you want the API to get/set. This also impacts the units displayed in Self-Test in Tuner. Depending on your mechanism, you may want to scale rotational units (deg, radians, rotations), or scale to a distance (inches, centimeters).- Parameters:
sensorCoefficient
- Scalar to multiply the CANCoder's native 12-bit resolute sensor. Defaults to 0.087890625 to produce degrees.unitString
- String holding the unit to report in. This impacts all routines (except for ConfigMagnetOffset) and the self-test in Tuner. The string value itself is arbitrary. The max number of letters will depend on firmware versioning, but generally CANCoder supports up to eight letters. However, common units such as "centimeters" are supported explicitly despite exceeding the eight-letter limit. Default is "deg"sensorTimeBase
- Desired denominator to report velocity in. This impacts GetVelocity and the reported velocity in self-test in Tuner. Default is "Per Second".- Returns:
- Error Code generated by function. 0 indicates no error.
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getBusVoltage
Deprecated, for removal: This API element is subject to removal in a future version.Gets the bus voltage seen by the device.- Returns:
- The bus voltage value (in volts).
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getMagnetFieldStrength
Deprecated, for removal: This API element is subject to removal in a future version.Gets the magnet's health.- Returns:
- The magnet health code (red/orange/green).
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configSensorDirection
Deprecated, for removal: This API element is subject to removal in a future version.Choose which direction is interpreted as positive displacement. This affects both "Position" and "Absolute Position".- Parameters:
bSensorDirection
- False (default) means positive rotation occurs when magnet is spun counter-clockwise when observer is facing the LED side of CANCoder.timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Error Code generated by function. 0 indicates no error.
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configSensorDirection
Deprecated, for removal: This API element is subject to removal in a future version.Choose which direction is interpreted as positive displacement. This affects both "Position" and "Absolute Position".- Parameters:
bSensorDirection
- False (default) means positive rotation occurs when magnet is spun counter-clockwise when observer is facing the LED side of CANCoder.- Returns:
- Error Code generated by function. 0 indicates no error.
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getLastError
Deprecated, for removal: This API element is subject to removal in a future version.Call GetLastError() generated by this object. Not all functions return an error code but can potentially report errors. This function can be used to retrieve those error codes.- Returns:
- The last ErrorCode generated.
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getLastUnitString
Deprecated, for removal: This API element is subject to removal in a future version.Get the units for the signal retrieved in the last called get routine. -
getLastTimestamp
Deprecated, for removal: This API element is subject to removal in a future version.Get the timestamp of the CAN frame retrieved in the last called get routine. -
configSetCustomParam
Deprecated, for removal: This API element is subject to removal in a future version.Sets the value of a custom parameter. This is for arbitrary use. Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.- Parameters:
newValue
- Value for custom parameter.paramIndex
- Index of custom parameter. [0-1]timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Error Code generated by function. 0 indicates no error.
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configSetCustomParam
Deprecated, for removal: This API element is subject to removal in a future version.Sets the value of a custom parameter. This is for arbitrary use. Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.- Parameters:
newValue
- Value for custom parameter.paramIndex
- Index of custom parameter. [0-1]- Returns:
- Error Code generated by function. 0 indicates no error.
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configGetCustomParam
Deprecated, for removal: This API element is subject to removal in a future version.Gets the value of a custom parameter. This is for arbitrary use. Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.- Parameters:
paramIndex
- Index of custom parameter. [0-1]timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Value of the custom param.
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configGetCustomParam
Deprecated, for removal: This API element is subject to removal in a future version.Gets the value of a custom parameter. This is for arbitrary use. Sometimes it is necessary to save calibration/duty cycle/output information in the device. Particularly if the device is part of a subsystem that can be replaced.- Parameters:
paramIndex
- Index of custom parameter. [0-1]- Returns:
- Value of the custom param.
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configSetParameter
public ErrorCode configSetParameter(ParamEnum param, double value, int subValue, int ordinal, int timeoutMs)Deprecated, for removal: This API element is subject to removal in a future version.Sets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.- Parameters:
param
- Parameter enumeration.value
- Value of parameter.subValue
- Subvalue for parameter. Maximum value of 255.ordinal
- Ordinal of parameter.timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Error Code generated by function. 0 indicates no error.
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configSetParameter
Deprecated, for removal: This API element is subject to removal in a future version.Sets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.- Parameters:
param
- Parameter enumeration.value
- Value of parameter.subValue
- Subvalue for parameter. Maximum value of 255.ordinal
- Ordinal of parameter.- Returns:
- Error Code generated by function. 0 indicates no error.
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configGetParameter
Deprecated, for removal: This API element is subject to removal in a future version.Gets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.- Parameters:
param
- Parameter enumeration.ordinal
- Ordinal of parameter.timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Value of parameter.
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configGetParameter
Deprecated, for removal: This API element is subject to removal in a future version.Gets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.- Parameters:
param
- Parameter enumeration.ordinal
- Ordinal of parameter.- Returns:
- Value of parameter.
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setStatusFramePeriod
public ErrorCode setStatusFramePeriod(CANCoderStatusFrame statusFrame, int periodMs, int timeoutMs)Deprecated, for removal: This API element is subject to removal in a future version.Sets the period of the given status frame.- Parameters:
statusFrame
- Frame whose period is to be changed.periodMs
- Period in ms for the given frame.timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Error Code generated by function. 0 indicates no error.
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setStatusFramePeriod
Deprecated, for removal: This API element is subject to removal in a future version.Sets the period of the given status frame.- Parameters:
statusFrame
- Frame whose period is to be changed.periodMs
- Period in ms for the given frame.- Returns:
- Error Code generated by function. 0 indicates no error.
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getStatusFramePeriod
Deprecated, for removal: This API element is subject to removal in a future version.Gets the period of the given status frame.- Parameters:
frame
- Frame to get the period of.timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Period of the given status frame.
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getStatusFramePeriod
Deprecated, for removal: This API element is subject to removal in a future version.Gets the period of the given status frame.- Parameters:
frame
- Frame to get the period of.- Returns:
- Period of the given status frame.
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getFirmwareVersion
Deprecated, for removal: This API element is subject to removal in a future version.Gets the firmware version of the device.- Returns:
- Firmware version of device.
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hasResetOccurred
Deprecated, for removal: This API element is subject to removal in a future version.Returns true if the device has reset since last call.- Returns:
- Has a Device Reset Occurred?
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getFaults
Deprecated, for removal: This API element is subject to removal in a future version.Gets the CANCoder fault status- Parameters:
toFill
- Container for fault statuses.- Returns:
- Error Code generated by function. 0 indicates no error.
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getStickyFaults
Deprecated, for removal: This API element is subject to removal in a future version.Gets the CANCoder sticky fault status- Parameters:
toFill
- Container for sticky fault statuses.- Returns:
- Error Code generated by function. 0 indicates no error.
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clearStickyFaults
Deprecated, for removal: This API element is subject to removal in a future version.Clears the Sticky Faults- Returns:
- Error Code generated by function. 0 indicates no error.
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clearStickyFaults
Deprecated, for removal: This API element is subject to removal in a future version.Clears the Sticky Faults- Returns:
- Error Code generated by function. 0 indicates no error.
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configGetVelocityMeasurementPeriod
Deprecated, for removal: This API element is subject to removal in a future version.- Parameters:
timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.- Returns:
- Read value of the config param.
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configGetVelocityMeasurementPeriod
Deprecated, for removal: This API element is subject to removal in a future version.- Returns:
- Read value of the config param.
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configGetVelocityMeasurementWindow
Deprecated, for removal: This API element is subject to removal in a future version.- Parameters:
timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.- Returns:
- Read value of the config param.
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configGetVelocityMeasurementWindow
Deprecated, for removal: This API element is subject to removal in a future version.- Returns:
- Read value of the config param.
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configGetAbsoluteSensorRange
Deprecated, for removal: This API element is subject to removal in a future version.- Parameters:
timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.- Returns:
- Read value of the config param.
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configGetAbsoluteSensorRange
Deprecated, for removal: This API element is subject to removal in a future version.- Returns:
- Read value of the config param.
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configGetMagnetOffset
Deprecated, for removal: This API element is subject to removal in a future version.- Parameters:
timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.- Returns:
- Read value of the config param.
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configGetMagnetOffset
Deprecated, for removal: This API element is subject to removal in a future version.- Returns:
- Read value of the config param.
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configGetSensorDirection
Deprecated, for removal: This API element is subject to removal in a future version.- Parameters:
timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.- Returns:
- Read value of the config param.
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configGetSensorDirection
Deprecated, for removal: This API element is subject to removal in a future version.- Returns:
- Read value of the config param.
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configGetSensorInitializationStrategy
Deprecated, for removal: This API element is subject to removal in a future version.- Parameters:
timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.- Returns:
- Read value of the config param.
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configGetSensorInitializationStrategy
Deprecated, for removal: This API element is subject to removal in a future version.- Returns:
- Read value of the config param.
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configGetFeedbackCoefficient
Deprecated, for removal: This API element is subject to removal in a future version.- Parameters:
timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.- Returns:
- Read value of the config param.
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configGetFeedbackCoefficient
Deprecated, for removal: This API element is subject to removal in a future version.- Returns:
- Read value of the config param.
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configGetFeedbackUnitString
Deprecated, for removal: This API element is subject to removal in a future version.- Parameters:
timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.- Returns:
- Read value of the config param.
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configGetFeedbackUnitString
Deprecated, for removal: This API element is subject to removal in a future version.- Returns:
- Read value of the config param.
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configGetFeedbackTimeBase
Deprecated, for removal: This API element is subject to removal in a future version.- Parameters:
timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.- Returns:
- Read value of the config param.
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configGetFeedbackTimeBase
Deprecated, for removal: This API element is subject to removal in a future version.- Returns:
- Read value of the config param.
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configAllSettings
Deprecated, for removal: This API element is subject to removal in a future version.Configures all persistent settings.- Parameters:
allConfigs
- Object with all of the persistant settingstimeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Error Code generated by function. 0 indicates no error.
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configAllSettings
Deprecated, for removal: This API element is subject to removal in a future version.Configures all persistent settings (overloaded so timeoutMs is 50 ms).- Parameters:
allConfigs
- Object with all of the persistant settings- Returns:
- Error Code generated by function. 0 indicates no error.
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getAllConfigs
Deprecated, for removal: This API element is subject to removal in a future version.Gets all persistant settings.- Parameters:
allConfigs
- Object with all of the persistant settingstimeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
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getAllConfigs
Deprecated, for removal: This API element is subject to removal in a future version.Gets all persistant settings (overloaded so timeoutMs is 50 ms).- Parameters:
allConfigs
- Object with all of the persistant settings
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configFactoryDefault
Deprecated, for removal: This API element is subject to removal in a future version.Configures all persistent settings to defaults.- Parameters:
timeoutMs
- Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.- Returns:
- Error Code generated by function. 0 indicates no error.
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configFactoryDefault
Deprecated, for removal: This API element is subject to removal in a future version.Configures all persistent settings to defaults.- Returns:
- Error Code generated by function. 0 indicates no error.
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